Object controlling means



Feb. 6, 1945. M. F. BATES 2,368,628

OBJECT CONTROLLING MEANS Filed oct. 27, 1942 TOR v INVENTOR .-E BATES Patented Feb.- 6, 1945` 2,368,628 OBJECT coN'rRoLLlNG MEANS Mortimer F. Bates, Brooklyn, N. Y., assignor to Sperry Gyroscope Company, Inc., Brooklyn, N. Y., a corporation of New York Application October 27, 1942, Serial No. 463,565

8 Claims.

This invention relates generally to an object controlling means. More particularly vthe invention pertains to a follow-up system by which a controlled object such as a platform providing casing is stabilized with respect to a gyro vertical instrument of conventional construction.

the trunnions 2|v and 2z of the gimbai ring 23 by which the rotor bearing case of the gyro instrument is universally mounted. The gimbal rings An object of the invention is to 'employ a differential control valve in the hydraulic portion of the follow-up system in which static friction is overcome. l

One of the features of the invention resides in provision of a self-centering pneumatic relay of the bellows type.

Another feature of the invention consists in provision of a hydraulically operated impulse turbine for rotating the valve stem of the control valve of the hydraulic system.

Still a further feature of the invention resides in the mountingl arrangement of the combined gyro vertical instrument and platform providing casing.

Another feature of the invention consists in the provision of a dual control for the relay by which the valve stem of the valve of the hydraulic system is both differentially controlled and oscillated.

Other features and structural details' of the invention will be apparent from the following description when read in relation to the accompanying drawing, wherein,

- Fig. 1 is a plan view of a gyro stabilized platform connected in accordance with the present invention.

Fig. 2 is a diagrammatic view showing the novel. follow-up system by which the platform in the present instance is stabilized with relation to the gyro instrument, and

Fig. 3 is a detail plan view showing the adjacent cut-out portions of the crossing straps uti lized in the servomotor.

With reference to Fig. 1, the controlled object of the present invention is constituted of a platform providing casing I0. The platform II is xedly mounted on the top of the hollow casing I and is situated in a horizontal plane. Casing I0 is universally mounted by means of gimbal ring I2. The minor axis of universal mounting of the platform providing casing being provided by trunnions I3 and I4 that extend from the casing and suitable bearings therefor in the opposite are arranged in perpendicular relation so that the majog; axis of the gyro rotor case is coaxial with the minor axis of the platform providing casing. The gyro rotor case 24 is pivotally mounted on the ring 23 by means such as the oppositely extending trunnions 25 and 26 with suitable bearings therefor in the opposite arms of the gimbal rring 23. Due to the arrangement of the rings, the minor axis of the gyro instrument and the major vaxis ofthe platform providing casing are normally situated in coaxial relation. The gyro rotor case 24 shown is of conventional form and includes a gyro rotor (not shown) which is suitably l spun about a normally vertical axis. Any suitable method may be employed to maintain the rotor bearing case 24 in an erected condition. As shown in Fig. 1, the enclosed platform providing casing I0 is continuously evacuated by means of a pump 21 which draws air therefrom by way of the flexible hose 28. Air may be suitably admitted to the gyro instrument in the present instance by way of a filter (not shown) in the base o f the'casing I0 and may be employed in a conventional way to both spin the gyro rotor and maintain the rotor case erect before passing into the hollow 'enclosing casing II) from which it is continuously withdrawn. 6,

Two pick-offs as generallyindicated at 29 and 30 are employed to detect relative displacement of the platform providing casing I0 and the gyro vertical about their respective axes. As shown in Fig. 1, trunnion 2I of the ring- 23 of the gyro instrument extends into the pick-off 29 and is adapted to position one of the parts thereof. One of the elements of pick-olf 30 is positioned by the trunnion 3| mounted bail32. The other trunnion for bail 32 is indicated at 33. Trunnions 3I and 33 are journaled in suitable bearings in the casing I0. Bail 32 is engaged by a lroller 34 on the top of the rotor bearing case 24 which moves With'movement of the case about its minor axis toncorrespondingly effect the part of the pick-up mounted on trunnion 3|. Y y

The pick-off and .follow-up control system for each of the mutually perpendicular axes of case 24 and platform casing I0 are similar inconstruction, so in order to avoid repetition only the follow-up controlsystem responsive'to angular displacementbetween the minor axis of the gyro vertical and the major axis of the platform casing will be described in detail. A single hydraulic pump is usually employed for the respective hydraulic systems in the yfollow-up control whichl in this instance is considered applicable for only the particular system under consideration.

With reference to Fig. 2, the pick-off 30 is indicated in detail. The element of the pneumatic which moves with a pivotally located with respect to plate 34 and includes two radially projecting spaced nozzle providing openings 31. .Air is supplied the nozzles by way of the flexible tubing 38 which is fastened to the exterior Wall of the casing |6. Pump 21 which operates to continuously withdraw air from the casing |6 also draws air through the respective nozzle openings 31 of the pick-off. It will be understood that when the relative parts of the pick-olf are normally positioned, the knife edgepositions of the plate 34 bisect the air jets issuing from the respective nozzles 31. When relative angular displacement of the elements occurs, one or the \other of the nozzles is blocked toa greater degree. Air is consequently evacuated to a greater the respective tubes is employed to control a pneumatic relay generally indicated at 39. Air is supplied the pick-off by Way of air bleeds 40 and the respective pipes 4| which are suitably joined to the flexible tubing 38 for each-of the nozzles.

The improved pneumatitc relay as shown in Fig. 2 is a differentially yoperable bellows type unit having a iixedly mounted central dividing wall 42. In the form of bellows unit shown, the dividing wall 42 is wedge-shaped and the base of the wall is suitably held in a stationary position. Passageways 43 are situated in the wall 42 leading to the respective sides thereof. Each of the passageways is lconnected to one of the pipes 4| by Iway of pipes 44. The bellofws type pneumatic relay also includes a exible cover 45 and two oppositely dislconnected as indicated at 49 to the oppositely dis-V posed end walls 4'6. Movement of the linked end walls of the relay about the hinged mounting thereof at the Ibase of the fixed wall of the relay is communicated to a relay valve generally indi-A cated at 56 controlling a hydraulic system by way of arm 5| which is xed to one of the end walls 4-6. In operation, the relay 39 is responsive to a differential change in pressure in pipes 4| by the action of pick-olf 36 so that the end Walls 46 thereof rock about hinge axis 41 either in a clockwise or counter-clockwise direction as viewed in Fig. 2. Assuming that motion of the relay walls 46 has occured in a clockwise direction, it will be understood that the right-hand portion, Fig. 2, of the pleated cover v45 has expanded while the leftfor the pick-off 36, in addition to the control valve 56, includes a fluid containing sump 52, a gear type pump 53 which is driven in any suitable manner, and a servomotor generally indicated atA 54., The control valve 56 as shown diagrammaticaliy in Fig. 2 includes a valve casing in which a valve stem or control member 56 is situated having oppositely disposed end piston forming elements 51 and 58 and intermediate spaced piston forming elements 59 and 66. On one end of the valve stem 56'is mounted the turbine wheel 6| of a. hydraulically operable 1mpulse turbine. Wheel 6| is coaxial in the present instance with the longitudinal axis of the valve stem 56. The nozzle 62 of the turbine is located in the valve casing 55, the same directing fluid upon the wheel 6| to spinA the valve stem about its longitudinal axis. Fluid under pressure is supplied the nozzle 62 by way of pipes 63, 64 and 65 from the discharge side of the pump 53, The wheel 6| and valve stem move together translationally to control the hydraulic systems valve part by means of a ball and socket joint 66 between the same and an arm 61 which isl pivotally connected to control arm 5| of the pneumatic relay 39. The relay 39 is linked mechanically to move the control member 56 of the valve translationally without lost motion. A diaphragm connection 68 of thin exible material permits relative translational movement of the valve stemV 56 to occur with respect to the casing 55, the same closing the open end of the valve and preventing the escape of fluid therefrom to the exterior. The valve stem 56 is consequently mounted for both translating controlling movement by way of the pneumatic relay and rotating movement by 'means ofthe turbine wheel.

The continuous rotating movement of the valve stem 56 obviates static friction therein and consequently makes the same more sensitive inexerting control over the hydraulic system. l

Means may be also included in the system for oscillating the valve stem 56 along its translational axis. Such means -as shown in the present instance is exerted by controlling the pneumatic relay 39 and may include a housing 69 having a flexible diaphragm 16 therein. The ends of the respective pipes 4| lead into the areas on the opposite sides of the diaphragm 16 which is oscillated in a suitable manner by means such as a motor 1|. This results in a small vibrating the differential control pressure signal provided .the system by the pick-olf 36. When the oscillahand portion of the cover 45 has correspondingly `position, as shown in Fig. 2, and is sufficient to render-the unit self-centering.

"The hydraulic system of the follow-up control tory diaphragm 16 is employed, the same provides a means for controlling the relay 39 to cause continuous translational oscillation of the control member of the valve. Such means is simultaneously eifective with the pick-ofi means 36 in influencing the translational movement of the Ivalve stem 56 provided for controlling the valve through the relay. Relay 39 is operated .at all times by the oscillation causing meansv 69--16 whose signal is continuously superimposed on the signal of the pick-o 36, whether or not the plate 34' thereof is in a central position.

Pick-off 36 is not disabled at any time, the same performing the function of |a control means for.

. renders the opposite return port eiective.

A ated midway between the spaced intermediate pistons 59 and 68 when the same are situatedin a normal valve closing position. Pipe 64 connected to pipe .65 includes a suitable pressure relief valve generally indicated at 12 which returns fluid directly to the sump 52. A pipe 13 provides for the gravity return of iiuid discharged from nozzle 62 and contained within the turbine wheel receiving part of the valve casing 55 to the sump 52.' The discharge ports of the valve 55 lead to the servomotor 54 by way of iiexible tubing 14 and 15. The return ports of the valve 55 lead by way of pipes 16 and 11 to the sump 52. In operation, the differentially effective valve stem 56 moves translationally to uncover one of the discharge ports land simultaneously For example, if stem 56 moves to the right, as viewedv in Fig. 2, piston 60 uncovers the discharge port leading to tubing 15 permitting the uid to flow into the tubing 15 to operate the servomotor. At the same time, piston 59 moves to the right correspondingly to open communication between the discharge port' for tube 14 and the return motor to supply lfluid to the opposed cylinders..4 Pistons 83 and 84 are provided with a common connecting member 85 on which one end of two slotted steel tapes as indicated at 86 and 81 is secured. Tapes 86 and 81 extend in crossed rela.- tionv as shown in Fig. 3 around the peripheral portion of a sector 88 whichv is xedly mounted on the trunnion I5 of the ring I2 which projects within the casing 19 of servomotor 54., The opposite ends of the tapes are suitably xed to the sector. Screws 89 and 90 are provided on the sector for adjusting the tension in the respective steel tapes 86 and 81. Consequently, motion of the pistons is directly communicated to the trunnion I5 without back lash between the connected parts. Each of the cylinders of the servomotor has an axialslotted portion, as indicated at 9| and 92, in which the sector 88 moves. Slots 9| and 92 alsoprovide a pressure relief for the servomotor when movement of either of the pistons 83 and 84 has taken place to an extent which renders the slots effective. A common pressure relief chamber for the respective cylinders is provided within the casing 19 as indicated at 93.

operation, the servomotors position the casing I0 both directly by servomotor 98 and indirectly by servomotor 54 to cancel the pick-oil? signal produced by occurrence of relative angularv displacement between the parts detected by the pick-offs 29 and 30. The eiiectof the oscillatory movements oflthe valve stem 5B under control of means 69+10 is not reflected in the operation y trolling valve mechanism having a translatable and rotatable control member of, means for-continuously rotating said member, a differentially operable relay directly connected to said control member to move the same translationally, means for controlling said relay, and simultaneously effective means for controlling said relay to cause continuous translational oscillation of said member..

2. A mechanism of the character claimed in claim 1, in which the relay is connected .to the controlmember byQa mechanical linkage.

3. A mechanism'of the character claimed in claim l, in which the servomotor controlled by the valve mechanism is hydraulic and the rotatingA means forthe control member of the mechanism is a hydraulically operated impulse turbine.

4. A mechanism of the character claimed in claim 1, in which the relay is pneumatic and the same is responsive to the combined inuence of the respective controlling means therefor.

trolling said relay to cause the member to move,

. translationally, and simultaneously effective The fluid in the pressurerelief chamber 93 is continuously scavenged by means of da pump 94A means for controlling said relay to cause continv uous translational oscillation of the member.

6. The combination with a servomotor c ontrolling valve mechanism having a translatable control member, a relay connected to said control member to move the same without lost motion, means for operating said relay to cause the member to move translationallyv and simultaneously effective means for operating said relay to cause continuous translational oscillation of the' v member.

stabilized platform is similarly'l constructed, the

same however being directly mounted on the ring I2 by which through means of trunnion I4 it directly positions the casing I0. This servomotor is generally indicated at 98. In the present instance, a counterbalance for the ring mounted servomotor is indicated at 99. in Fig. 1. This '1. A valve mechanism having av translatable control member, a relay for actuating said control member without lost motion, means for operating said relay to cause the member to move translationally, and simultaneously effective means for operating said relay to cause continuous translational oscillationof the member.

8. A'valve mechanism of the character claimed in claim 7, in Which-the control member is ro- -tatably mounted, and which includes means for ORTIMER F. BATES.

3 'with relation to the stabnized casing In. In 

